EP4086036A1 - Dispositif et procédé d'échange de pièce - Google Patents

Dispositif et procédé d'échange de pièce Download PDF

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Publication number
EP4086036A1
EP4086036A1 EP20910821.6A EP20910821A EP4086036A1 EP 4086036 A1 EP4086036 A1 EP 4086036A1 EP 20910821 A EP20910821 A EP 20910821A EP 4086036 A1 EP4086036 A1 EP 4086036A1
Authority
EP
European Patent Office
Prior art keywords
workpiece
library
spindle
axis
machine tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20910821.6A
Other languages
German (de)
English (en)
Other versions
EP4086036A4 (fr
Inventor
Hu Chen
Xingjian HE
Hongtao Tang
Xinglin GONG
Zhihui Ren
Shaozhi LI
Hongzhen GUO
Guojing Zhang
Mingshan Song
Shaoyi Liu
Zidan Ju
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Kede Numerical Control Co Ltd
Original Assignee
Dalian Kede Numerical Control Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Kede Numerical Control Co Ltd filed Critical Dalian Kede Numerical Control Co Ltd
Publication of EP4086036A1 publication Critical patent/EP4086036A1/fr
Publication of EP4086036A4 publication Critical patent/EP4086036A4/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/15506—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling the tool being inserted in a tool holder directly from a storage device (without transfer device)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/03—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of endless chain conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/10—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2705/00—Driving working spindles or feeding members carrying tools or work
    • B23Q2705/10—Feeding members carrying tools or work
    • B23Q2705/102—Feeding members carrying tools or work for lathes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2707/00—Automatic supply or removal of metal workpieces
    • B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe

Definitions

  • the present invention relates to the field of workpiece exchange of machine tools, particularly, to a workpiece exchange device and method.
  • the structure of mechanical hand is complex, and mechanical hand completes the exchange of workpiece via motions of multiple linear axes and adopts a high-speed servo motor to cooperate with the lead screw transmission, and the overall cost of multiple linear axes is relatively high.
  • Some mechanical hands adopt cylinder transmission and cooperate with limiters and sensors to realize the exchange of workpieces.
  • the sensor must ensure that the cylinder moves completely in place after detection. Before reaching the collision limit, the speed of the cylinder needs to be reduced to reserve buffer time, and that makes the entire exchange of the workpiece relatively slow, and there is mechanical wear and loosening of the limit positioning, resulting in offset, which needs to be adjusted repeatedly.
  • the present invention provides a workpiece exchange device and method, which can quickly and stably exchange workpieces.
  • a workpiece exchange device including: a workpiece spindle that can move along an X axis and a Z axis of a machine tool; and a workpiece library, wherein:
  • the workpiece exchange device also includes: a detection device, wherein: the detection device can detect a position of the workpiece spindle, a state of a workpiece on the workpiece spindle, and a position and angle of a workpiece in the workpiece library, and the state includes: with workpiece, without workpiece, workpiece machined, and workpiece unmachined.
  • a tool handle is provided at an end of the workpiece; and a broaching mechanism that matches with the tool handle is provided on the workpiece spindle.
  • the workpiece library also includes a workpiece gripper and a chain shaft; the workpiece gripper fixes the workpiece in the workpiece library via the tool handle; the workpiece gripper is arranged on a workpiece chain; the chain shaft drives the workpiece chain to transport the workpiece; and the chain shaft is fixed on an upright column of the machine tool.
  • a workpiece exchange method including:
  • a workpiece exchange method including:
  • the present invention provides a workpiece exchange device and method, which utilizes movement of a workpiece spindle in the X axis and Z axis directions and the cooperation of a tool handle structure and a broaching mechanism to realize taking out a workpiece in the workpiece library, transporting a workpiece to the workpiece library, and completing the workpiece exchange job.
  • the present invention has the following beneficial effects: 1. the present invention uses the X-axis and Z-axis of the machine tool to make the workpiece spindle move in a plane and grab the workpiece with high precision and fast speed, and the position is closed-loop so that the grabbing action is more accurate, and the running speed and grabbing accuracy are both much higher than those of robots or mechanical hands, greatly improving the efficiency of workpiece exchange; 2.
  • the present invention uses the X-axis and Z-axis of the machine tool to exchange workpieces, no additional auxiliary mechanisms are required, and the mechanical structure is more concise, has better reliability, and saves costs; 3. the workpiece is pre-mounted with a tool handle interface, the broaching mechanism and the tool handle structure are prior arts with heavy bearing capacity and high reliability, and are convenient for expanding the workpiece library; 4. the workpiece library is adjacent to the machining work space, the machine tool has a compact structure and occupies a small area, and the workpiece pick-up and delivery are completed via linear axis motions of the machine tool, which do not require additional work strokes, save a lot of space, and are beneficial to production organization.
  • FIG. 1 shows a workpiece exchange device including a workpiece library 1, a workpiece spindle 3, wherein the workpiece library 1 is used to store a workpiece 2 and the workpiece spindle can move along the X axis and Z axis of a machine tool and grab the workpiece.
  • a slide table 4 which can move along the X axis of the machine tool is provided on the bed base of the machine tool, a pallet 5 which can move along the Z axis of the machine tool is provided on the slide table 4, and the workpiece spindle 3 is provided on the pallet 5.
  • Two guide rails are provided on the bed base in the X axis direction, the bottom of the slide table 4 is provided with a slider that matches with the guide rails, and an end of the bed base is provided with a drive motor, which drives the slide table 4 to move via a lead screw matched with a nut.
  • Two guide rails are provided on the slide table 4 in the Z axis direction, the bottom of the pallet 5 is provided with a slider, and an end of the slide table 4 is provided with an electric motor, which drives the pallet 5 to move along the Z axis on the slide table 4.
  • the workpiece library 1 is fixed on the left side surface of the machine tool, and the workpiece in the workpiece library is parallel to and in the same direction with the workpiece spindle.
  • the side of the workpiece to be machined faces the upright column direction of the machine tool, and a tool handle 21 is provided on the other side of the workpiece.
  • the X axis and Z axis of the machine tool form a plane coordinate system, the end of the workpiece library 1 close to the machine tool is in this coordinate system, and the workpiece spindle moves in this coordinate system.
  • the linear axis motion on the machine tool has high precision, high speed and good stability, which improve the grasping and exchanging efficiency of the workpiece.
  • the X axis and Z axis of the machine tool are parts of the machine tool itself, and have a simple structure and good stability, which make the workpiece grasping more reliable.
  • the workpiece exchange device also includes a detection device, which is used to detect the position of the workpiece spindle 3, the state of the workpiece on the workpiece spindle 3 and the position and angle of the workpiece in the workpiece library 1, and the state of the workpiece on the workpiece spindle 3 includes: there is a workpiece on the workpiece spindle 3; there is no workpiece on the workpiece spindle 3; the workpiece on the workpiece spindle 3 has been machined; and the workpiece on the workpiece spindle 3 has not been machined.
  • the detection device includes a plurality of sensors, and the plurality of sensors is used to detect whether there is a workpiece at the machining position, whether the angle of the workpiece is accurate, whether the workpiece has been machined, etc.
  • the position closed-loop servo system of the machine tool is used to accurately detect the displacement amount of the workpiece spindle 3 and exerts a precise control thereon to enable the workpiece spindle to grasp the workpiece quickly and stably.
  • a broaching mechanism 31 is provided on the workpiece spindle 3, and an end of the workpiece 2 is provided with a tool handle structure that matches with the broaching mechanism 31.
  • the matching between the broaching mechanism and the tool handle is a prior art which has stable grasping, high bearing capacity and high reliability, and is convenient for expanding the workpiece library.
  • the workpiece library 1 is integrated on the machine tool and is adjacent to the machining area of the machine tool, and has a compact structure and small footprint, which not only improve the utilization rate of the workshop, but also facilitate the production organization.
  • the workpiece library 1 also includes a chain shaft 11 and a workpiece chain 12 wound around the chain shaft 11.
  • the chain shaft 12 is fixed on an upright column of the machine tool and is driven by a motor.
  • the chain shaft 12 drives the workpiece chain 11 to move.
  • a workpiece gripper 13 is provided on the workpiece chain 11.
  • the workpiece 2 is fixed on the workpiece chain 12 via the workpiece gripper 13.
  • the workpiece chain 12 is composed of a plurality of chain links connected to each other in a hinged manner, and the workpiece chain 12 is wound around the outside of the chain shaft 11.
  • the workpiece gripper 13 is provided on the workpiece chain 11.
  • the workpiece gripper 13 fixes the workpiece 2 on the workpiece chain 12.
  • An end of the workpiece 2 is pre-mounted with a tool handle 21.
  • the tool handle 21 matches with the workpiece gripper 13 to realize the fixation of the workpiece in the workpiece library 1.
  • the matching between the broaching mechanism 31 on an end surface of the workpiece spindle 3 and the tool handle structure on the workpiece 2 can realize the grasping of the workpiece 2.
  • the structure of the workpiece gripper 13 is an existing tool holder structure, and the matching and fixation between the tool holder and the tool handle is a prior art.
  • the workpiece library is constructed in the form of connecting the tool handle and the tool holder, and such construction has good reliability and is convenient for expanding the workpiece library when needed.
  • the workpiece is clamped in the form of a tool handle, which has the advantages of heavy bearing capacity, stable clamping and fast exchanging, which greatly improve the exchanging efficiency.
  • a method for mounting workpiece including the following steps.
  • the workpiece spindle is at the initial position.
  • the initial position is far away from the workpiece library in the Z axis direction, and is located on the side where the workpiece can be grasped in the X axis direction.
  • the initial position can be a plurality of points in a region that satisfies the above conditions.
  • the workpiece library 1 is fixed on the left side surface of the machine tool, and the workpiece in the workpiece library is parallel to and in the same direction with the workpiece spindle.
  • the side of the workpiece to be machined faces the upright column direction of the machine tool, and the tool handle 21 is provided on the other side of the workpiece.
  • the side of the workpiece which can be grasped is the side with the tool handle of the workpiece.
  • the workpiece library cyclically transports the workpiece along the Z axis direction, and the workpiece is transported to an end of the workpiece library close to the machine tool, that is, the workpiece moves to a position close to the machine tool.
  • the workpiece spindle moves along the Z axis to the workpiece library, so that the workpiece spindle is coaxial with the workpiece.
  • the workpiece spindle moves along the X axis and is clamped with the workpiece, and at this time, the position of the workpiece spindle is as shown in FIG. 4 .
  • the workpiece spindle moves along the Z axis to separate the workpiece from the workpiece library, and at this time, the position of the workpiece spindle is as shown in FIG. 5 , and then, the slide table and the pallet move in coordination to transport the workpiece to the machining position.
  • the slide table 4 transports the workpiece spindle 3 to an end of the X axis that is far away from a cutter 6.
  • the electric motor drives the chain shaft 11, and then causes the workpiece chain 12 to rotate, and drives the workpiece 2 to a position where the workpiece spindle 3 can grasp the workpiece 2. Meanwhile, the workpiece spindle 3 moves along the Z axis and gets close to the workpiece library 1.
  • the detection device detects the position of the workpiece spindle 3, and confirms that the workpiece spindle 3 is in the proper position in the Z axis direction, that is, the workpiece spindle can move along the X axis and get clamped with the workpiece 2.
  • the pallet 5 moves along the X axis, activates the broaching mechanism on the end surface of the workpiece spindle, and tightens the workpiece via the broaching mechanism.
  • the slide table 4 and the pallet 5 move in coordination to transport the workpiece 2 to the machining area.
  • a method for achieving the return of workpiece including the following steps.
  • the workpiece 2 is mounted in the workpiece spindle 3, the workpiece spindle 3 moves to an end of the Z axis away from the workpiece library, and the workpiece library is started.
  • the workpiece chain 12 is rotated under the drive of the chain shaft 11, so that the workpiece storage position of the workpiece library faces the machine tool. That is, turn the opening of the workpiece gripper 13 to the position of the workpiece library for storing workpieces when the workpiece library faces the workpiece spindle, and get ready to receive the workpiece.
  • the slide table 4 transports the workpiece spindle 3 along the X axis, and the detection device performs detection to confirm that the workpiece 2 is aligned with the workpiece library 1. At this time, the position of the workpiece spindle is as shown in FIG.
  • the workpiece spindle 3 moves along the Z axis to the workpiece library 1.
  • the workpiece spindle 3 is transported by the pallet 5, and sends the workpiece 2 into the workpiece gripper 13. Start the tool release function of the broaching mechanism on the end surface of the workpiece spindle 3. Then, the workpiece spindle 3 releases the workpiece.
  • the slide table 4 moves away from the cutter 6 along the X axis, so that the workpiece 2 is completely separated from the workpiece spindle 3.
  • the chain shaft rotates to drive the workpiece chain 12 to transport the workpiece 2 away, and the pallet moves along the Z axis to make the workpiece spindle leave the cutter library.
  • the workpiece exchange device disclosed by the present invention is not limited to the above-mentioned machine tool structure, and any machine tool without a table structure can utilize the present invention to realize the exchange of workpiece and workpiece spindle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Turning (AREA)
  • Jigs For Machine Tools (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Feeding Of Workpieces (AREA)
EP20910821.6A 2019-12-31 2020-11-27 Dispositif et procédé d'échange de pièce Pending EP4086036A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911424967.1A CN111037348A (zh) 2019-12-31 2019-12-31 一种工件交换装置和方法
PCT/CN2020/132124 WO2021135762A1 (fr) 2019-12-31 2020-11-27 Dispositif et procédé d'échange de pièce

Publications (2)

Publication Number Publication Date
EP4086036A1 true EP4086036A1 (fr) 2022-11-09
EP4086036A4 EP4086036A4 (fr) 2023-06-21

Family

ID=70243407

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20910821.6A Pending EP4086036A4 (fr) 2019-12-31 2020-11-27 Dispositif et procédé d'échange de pièce

Country Status (5)

Country Link
US (1) US20230032696A1 (fr)
EP (1) EP4086036A4 (fr)
JP (1) JP7425880B2 (fr)
CN (1) CN111037348A (fr)
WO (1) WO2021135762A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111037348A (zh) * 2019-12-31 2020-04-21 科德数控股份有限公司 一种工件交换装置和方法
CN112981685B (zh) * 2021-02-21 2022-08-30 福建泳力泰针织机械有限公司 一种数字信息化针织大圆机

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AU657852B2 (en) * 1992-04-10 1995-03-23 Emag Holding Gmbh Machining centre constructed from assemblies
JPH06106441A (ja) * 1992-09-28 1994-04-19 Toyoda Mach Works Ltd ワークホルダを用いた加工装置
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CN110449955B (zh) * 2019-07-19 2022-04-01 科德数控股份有限公司 一种带料盘的全自动立式加工中心
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CN111037348A (zh) * 2019-12-31 2020-04-21 科德数控股份有限公司 一种工件交换装置和方法

Also Published As

Publication number Publication date
JP7425880B2 (ja) 2024-01-31
KR20220110229A (ko) 2022-08-05
WO2021135762A1 (fr) 2021-07-08
EP4086036A4 (fr) 2023-06-21
US20230032696A1 (en) 2023-02-02
JP2023508184A (ja) 2023-03-01
CN111037348A (zh) 2020-04-21

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